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Found 12 papers, 1 papers with code
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots
We present DemoStart, a novel auto-curriculum reinforcement learning method capable of learning complex manipulation behaviors on an arm equipped with a three-fingered robotic hand, from only a sparse reward and a handful of demonstrations in simulation.
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
We apply multi-agent deep reinforcement learning (RL) to train end-to-end robot soccer policies with fully onboard computation and sensing via egocentric RGB vision.
RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation
With RoboCat, we demonstrate the ability to generalise to new tasks and robots, both zero-shot as well as through adaptation using only 100-1000 examples for the target task.
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
In the second approach, we distill the specialist skills into a Transformer-based generalist locomotion policy, named Locomotion-Transformer, that can handle various terrains and adjust the robot's gait based on the perceived environment and robot states.
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
We investigate whether Deep Reinforcement Learning (Deep RL) is able to synthesize sophisticated and safe movement skills for a low-cost, miniature humanoid robot that can be composed into complex behavioral strategies in dynamic environments.
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields
A simulation is then created using the rendering engine in a physics simulator which computes contact dynamics from the static scene geometry (estimated from the NeRF volume density) and the dynamic objects' geometry and physical properties (assumed known).
Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes
We study the problem of robotic stacking with objects of complex geometry.
Ranked #2 on
Skill Generalization
on RGB-Stacking
Learning Dexterous Manipulation from Suboptimal Experts
Although in many cases the learning process could be guided by demonstrations or other suboptimal experts, current RL algorithms for continuous action spaces often fail to effectively utilize combinations of highly off-policy expert data and on-policy exploration data.
Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer
Learning robotic control policies in the real world gives rise to challenges in data efficiency, safety, and controlling the initial condition of the system.
Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulation
In this work, we learn a latent state representation implicitly with deep reinforcement learning in simulation, and then adapt it to the real domain using unlabeled real robot data.
Simultaneously Learning Vision and Feature-based Control Policies for Real-world Ball-in-a-Cup
We present a method for fast training of vision based control policies on real robots.
Incremental Semiparametric Inverse Dynamics Learning
This paper presents a novel approach for incremental semiparametric inverse dynamics learning.
